Parking assistance device, parking assistance method, and non-transitory computer readable medium

Abstract

A parking assistance device includes an imager that captures an image of a surrounding of a vehicle, and a display that displays a guidance image for guiding the vehicle from a parking start position to a target parking position and displays a moving area in which the vehicle can move during a parking operation. An area and dimension of the moving area displayed on the display changes based on a change in a steering angle of the vehicle.

What is claimed is: 
     
       1. A control method of a driving assistance device configured to be mounted in a vehicle, comprising:
 receiving a first ambient image of the vehicle, the first ambient image captured by a plurality of cameras mounted in the vehicle; 
 displaying a first overhead image of the vehicle on a screen of a display mounted in the vehicle, at least a part of the first overhead image corresponding to the first ambient image, the first overhead image including a vehicle image indicating the vehicle, a first line segment overlapping the first overhead image on the screen, a second line segment overlapping the first overhead image on the screen, the first line segment having a first end point and a second end point, the first line segment arranged along a forward traveling direction of the vehicle on the screen, the first end point being farther from the vehicle image than the second end point on the screen, the second line segment having a third end point and a fourth end point, the second line segment arranged along the forward traveling direction of the vehicle on the screen, the third end point being farther from the vehicle than the fourth end point on the screen, and the first line segment and the second line segment having a first distance between the first end point and the third end point on the screen, when a steering angle of the vehicle equals to a first angle from a reference angle; 
 receiving a second ambient image of the vehicle, the second ambient image captured by the plurality of cameras mounted in the vehicle; and 
 displaying a second overhead image of the vehicle on the screen, at least a part of the second overhead image corresponding to the second ambient image, the second overhead image including the vehicle image, a third line segment overlapping the second overhead image on the screen, a fourth line segment overlapping the second overhead image on the screen, the third line segment having a fifth end point and a sixth end point, the third line segment arranged along the forward traveling direction of the vehicle on the screen, the fifth end point being farther from the vehicle image than the sixth end point on the screen, the fourth line segment having a seventh end point and a eighth end point, the fourth line segment arranged along the forward traveling direction of the vehicle on the screen, the seventh end point being farther from the vehicle than the eighth end point, and the third line segment and the fourth line segment having a second distance between the fifth end point and the seventh end point on the screen, when the steering angle of the vehicle equals to a second angle from the reference angle, the second distance being greater than the first distance, when the steering angle of the vehicle equals to the second angle from the reference angle. 
 
     
     
       2. The control method of the driving assistance device according to  claim 1 , wherein
 the reference angle corresponds to a neutral state of the steering wheel directing the vehicle to travel in a straight line. 
 
     
     
       3. The control method of the driving assistance device according to  claim 1 , wherein
 the displaying the first overhead image includes displaying, on the screen, the first overhead image with a first steering angle indicator indicating the first angle, and 
 the displaying the second overhead image includes displaying, on the screen, the second overhead image with a second steering angle indicator indicating the second angle. 
 
     
     
       4. The control method of the driving assistance device according to  claim 1 , wherein
 the displaying the first overhead image includes displaying the first overhead image of the vehicle on the screen, when the steering angle of the vehicle equals to the first angle, while the vehicle is traveling from a parking start position to a target parking position, and 
 the displaying the second overhead image includes displaying the second overhead image of the vehicle on the screen, when the steering angle of the vehicle equals to the second angle, while the vehicle is traveling from the parking start position to the target parking position. 
 
     
     
       5. The control method of the driving assistance device according to  claim 1 , further comprising:
 receiving a third ambient image of the vehicle, the third ambient image captured by the plurality of cameras mounted in the vehicle; 
 displaying a third overhead image of the vehicle on the screen, at least a part of the third overhead image corresponding to the third ambient image, the third overhead image including the vehicle image, a fifth line segment overlapping the third overhead image on the screen, a sixth line segment overlapping the third overhead image on the screen, the fifth line segment having a ninth end point and a tenth end point, the fifth line segment arranged along the forward traveling direction of the vehicle on the screen, the ninth end point being farther from the vehicle than the tenth end point, the sixth line segment having an eleventh end point and a twelfth end point, the sixth line segment arranged along the forward traveling direction of the vehicle on the screen, the eleventh end point being farther from the vehicle than the twelfth end point, and the fifth line segment and the sixth line segment having a third distance between the ninth end point and the eleventh end point when the steering angle of the vehicle equals to a third angle from the reference angle; and 
 changing the third distance based on a change in the steering angle of the vehicle. 
 
     
     
       6. The control method of the driving assistance device according to  claim 5 , wherein
 when a difference between the steering angle of the vehicle and the reference angle increases in a clockwise direction, the third distance becomes longer rightward facing one longitudinal direction of the vehicle image, on the screen. 
 
     
     
       7. The control method of the driving assistance device according to  claim 1 , wherein
 each of the first overhead image and the second overhead image is displayed on a first part of the screen of the display, and 
 a front view or a rear view from one of the plurality of cameras is displayed on a second part of the screen of the display, the second part of the display being distinct from the first part of the display. 
 
     
     
       8. The control method of the driving assistance device according to  claim 1 , further comprising
 displaying a seventh line segment between the first end point and the third end point.